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<div class="header">
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<p>Utility functions for manipulating spatial quantities.  
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &quot;<a class="el" href="../../d4/dfb/orientation__tools_8h_source.html">Math/orientation_tools.h</a>&quot;</code><br />
<code>#include &lt;eigen3/Eigen/Dense&gt;</code><br />
<code>#include &lt;cmath&gt;</code><br />
<code>#include &lt;iostream&gt;</code><br />
<code>#include &lt;type_traits&gt;</code><br />
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  <img id="dynsection-0-trigger" src="../../closed.png" alt="+"/> Include dependency graph for spatial.h:</div>
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<p><a href="../../d9/dc8/spatial_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
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Namespaces</h2></td></tr>
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Enumerations</h2></td></tr>
<tr class="memitem:acc851583f244f19d9ea07490e9328b51"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../de/d1a/namespacespatial.html#acc851583f244f19d9ea07490e9328b51">spatial::JointType</a> { <a class="el" href="../../de/d1a/namespacespatial.html#acc851583f244f19d9ea07490e9328b51a35fa8acd1b8b1beb23e6c2e24313570c">spatial::JointType::Prismatic</a>, 
<a class="el" href="../../de/d1a/namespacespatial.html#acc851583f244f19d9ea07490e9328b51a358561ac4d41f41d479b7c54b19b639e">spatial::JointType::Revolute</a>, 
<a class="el" href="../../de/d1a/namespacespatial.html#acc851583f244f19d9ea07490e9328b51a70739581ffec4f3db3f3fe5c0a309c3a">spatial::JointType::FloatingBase</a>, 
<a class="el" href="../../de/d1a/namespacespatial.html#acc851583f244f19d9ea07490e9328b51af80a4ad87fee7c9fdc19b7769495fdb5">spatial::JointType::Nothing</a>
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Functions</h2></td></tr>
<tr class="memitem:acab0e3d82f9a5385d482b83f2ee88eb1"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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<tr class="memitem:a705e44e685fd39dbd6c1a9002ae9a344"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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<tr class="memitem:a30b33586f68f1f6b31718848914a90ca"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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<tr class="memitem:a39cbc59fb7656b397d13c5a52799bf22"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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<tr class="memitem:ae4a2145f3028087511b4f17c0152ec83"><td class="memTemplParams" colspan="2">template&lt;typename T , typename T2 &gt; </td></tr>
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<tr class="memitem:aba5e712bd3844d2e6a57dcb071f3f0a5"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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<tr class="memitem:ae1f2e71c723cc6a785153b3c92a82e84"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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<tr class="memitem:a6440807f3b1854b1708f49048331811a"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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<tr class="memitem:aa7ac11b744e5fad0c1cbef41e3bb209f"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:aa7ac11b744e5fad0c1cbef41e3bb209f"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a>&lt; typename T::Scalar &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../de/d1a/namespacespatial.html#aa7ac11b744e5fad0c1cbef41e3bb209f">spatial::rotInertiaOfBox</a> (typename T::Scalar mass, const Eigen::MatrixBase&lt; T &gt; &amp;dims)</td></tr>
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<tr class="memitem:a95b2db654a989f56df5a8977a5be12d6"><td class="memTemplParams" colspan="2">template&lt;typename T , typename T2 &gt; </td></tr>
<tr class="memitem:a95b2db654a989f56df5a8977a5be12d6"><td class="memTemplItemLeft" align="right" valign="top">auto&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../de/d1a/namespacespatial.html#a95b2db654a989f56df5a8977a5be12d6">spatial::spatialToLinearVelocity</a> (const Eigen::MatrixBase&lt; T &gt; &amp;v, const Eigen::MatrixBase&lt; T2 &gt; &amp;x)</td></tr>
<tr class="separator:a95b2db654a989f56df5a8977a5be12d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af4cad4343e60d07ebdb543fb9a121a67"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:af4cad4343e60d07ebdb543fb9a121a67"><td class="memTemplItemLeft" align="right" valign="top">auto&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../de/d1a/namespacespatial.html#af4cad4343e60d07ebdb543fb9a121a67">spatial::spatialToAngularVelocity</a> (const Eigen::MatrixBase&lt; T &gt; &amp;v)</td></tr>
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<tr class="memitem:a13df9ec1359ecd4150251eaae0895198"><td class="memTemplParams" colspan="2">template&lt;typename T , typename T2 &gt; </td></tr>
<tr class="memitem:a13df9ec1359ecd4150251eaae0895198"><td class="memTemplItemLeft" align="right" valign="top">auto&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../de/d1a/namespacespatial.html#a13df9ec1359ecd4150251eaae0895198">spatial::spatialToLinearAcceleration</a> (const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T2 &gt; &amp;v)</td></tr>
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<tr class="memitem:a791e1bf3407f16ee4157ff943ea824dc"><td class="memTemplParams" colspan="2">template&lt;typename T , typename T2 , typename T3 &gt; </td></tr>
<tr class="memitem:a791e1bf3407f16ee4157ff943ea824dc"><td class="memTemplItemLeft" align="right" valign="top">auto&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../de/d1a/namespacespatial.html#a791e1bf3407f16ee4157ff943ea824dc">spatial::spatialToLinearAcceleration</a> (const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T2 &gt; &amp;v, const Eigen::MatrixBase&lt; T3 &gt; &amp;x)</td></tr>
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<tr class="memitem:ab521121fc7af2392144a78003c100a10"><td class="memTemplParams" colspan="2">template&lt;typename T , typename T2 &gt; </td></tr>
<tr class="memitem:ab521121fc7af2392144a78003c100a10"><td class="memTemplItemLeft" align="right" valign="top">auto&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../de/d1a/namespacespatial.html#ab521121fc7af2392144a78003c100a10">spatial::sXFormPoint</a> (const Eigen::MatrixBase&lt; T &gt; &amp;X, const Eigen::MatrixBase&lt; T2 &gt; &amp;p)</td></tr>
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<tr class="memitem:a3b32f3f809891285d9f1a8cf3c7cd16e"><td class="memTemplParams" colspan="2">template&lt;typename T , typename T2 &gt; </td></tr>
<tr class="memitem:a3b32f3f809891285d9f1a8cf3c7cd16e"><td class="memTemplItemLeft" align="right" valign="top">auto&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../de/d1a/namespacespatial.html#a3b32f3f809891285d9f1a8cf3c7cd16e">spatial::forceToSpatialForce</a> (const Eigen::MatrixBase&lt; T &gt; &amp;<a class="el" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a>, const Eigen::MatrixBase&lt; T2 &gt; &amp;p)</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Utility functions for manipulating spatial quantities. </p>
<p>This file contains functions for working with spatial vectors and transformation matrices. </p>

<p>Definition in file <a class="el" href="../../d9/dc8/spatial_8h_source.html">spatial.h</a>.</p>
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